ive seen it on prior htc handsets and i think it started after a certain android os version rather than a handset (it behaves this same way on the one max for example). i have used htc handsets exclusively since 2001 so thats all i know. what you speak of is baked into the ROM and a part of the way sense works.
if you root your device, you may be able to open up other opportunities, but in the stock configuration, there is no way to change this from what I know.
if the app management hasnt dumped/flushed the app from running, that same screen is still going to be there when i tap to go back to the app.
this method has helped me when im, say, trying to read something from an app to transcribe to another app. I can open up the recent apps page there, and visually see what i am trying to copy and it has really helped! I know this is not a "feature" but i take advantage of it when i can..
so no, can't change the behavior the app management uses for that in stock form...